IAI America ZR-M - Manual (Page 49)

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14.1.2 Starting the Absolute Reset Menu (Ball Screw Spline Adjustment Window)
(1) Open the ball screw spline adjustment window in the PC software.
(2) The ball screw spline adjustment window opens.
When a linear movement axis number is selected, the “Rotational Movement Axis No. (Mating Axis
No.)” and “Encoder Type” field appear.
 Ball screw spline adjustment is performed for the linear movement axis and rotational movement
axis as a pair. The adjustment procedure includes steps that require operation of the robot, so
check the operating range of the actuator and confirm absence of obstructions, etc., to make the
actuator ready to operate.